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also set norm_map

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Pepijn
2025-09-29 20:13:56 +02:00
parent 7d7f789c4a
commit 2a49cc0162
1 changed files with 10 additions and 2 deletions
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src/lerobot/scripts/lerobot_train.py
+10 -2
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@@ -188,10 +188,18 @@ def train(cfg: TrainPipelineConfig):
if cfg.policy.pretrained_path is not None: if cfg.policy.pretrained_path is not None:
processor_kwargs["preprocessor_overrides"] = { processor_kwargs["preprocessor_overrides"] = {
"device_processor": {"device": device.type}, "device_processor": {"device": device.type},
"normalizer_processor": {"stats": dataset.meta.stats, "features": {**policy.config.input_features, **policy.config.output_features}}, "normalizer_processor": {
"stats": dataset.meta.stats,
"features": {**policy.config.input_features, **policy.config.output_features},
"norm_map": policy.config.normalization_mapping,
},
} }
postprocessor_kwargs["postprocessor_overrides"] = { postprocessor_kwargs["postprocessor_overrides"] = {
"unnormalizer_processor": {"stats": dataset.meta.stats, "features": policy.config.output_features}, "unnormalizer_processor": {
"stats": dataset.meta.stats,
"features": policy.config.output_features,
"norm_map": policy.config.normalization_mapping,
},
} }
preprocessor, postprocessor = make_pre_post_processors( preprocessor, postprocessor = make_pre_post_processors(